function [vR,vL]=RFNN_EKF_cal_v(dg,do,sig,sio,v_o,w_o)
    %输入向量
    aph=0.3;
    b=0.098;
    S=[dg,do,sig,sio];
    % 初始化静态变量
    persistent a;
    if isempty(a)
            a=[0.1057,0.142,0.1664,0.6209,0.5737,0.052,0.9312,0.7286,0.7378,0.0634,0.8604,0.9344,0.9843,0.8589,0.7855,0.5133;
                0.1776,0.3985,0.1339,0.0308,0.9391,0.3013,0.2955,0.3329,0.467,0.6481,0.0252,0.8422,0.559,0.854,0.3478,0.446];
    end
    W=a*sum(S(:));
    [Outputs,Fnk]=RFNNpro_v(S,W);

    vL=Outputs(2)/(1+aph*abs(Outputs(2)));
    vR=Outputs(1)/(1+aph*abs(Outputs(1)));

%     if(do>1)
%         S1=[dg,sig];
%     else
%         S1=S;
%     end
%     a_32=[a(1,:),a(2,:)];
%     a=EKF_weight_v3(S1,Fnk,Outputs,a_32,v_o,w_o,aph,b);
%     a=[a(1:16);a(17:32)];
end